Async behavior that waits for gcalcli connection. More...

#include <cb_wait_connection.hpp>

Inheritance diagram for cl_gcalcli::CbWaitConnection:

Collaboration diagram for cl_gcalcli::CbWaitConnection:

Public Member Functions
	CbWaitConnection (std::chrono::seconds timeout=std::chrono::seconds{30})
	Construct with optional timeout.

virtual	~CbWaitConnection ()=default

void	onEntry () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	onExit ()

Private Attributes
std::chrono::seconds	timeout_

ClGcalcli *	client_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

Async behavior that waits for gcalcli connection.

This behavior attempts to establish a connection to Google Calendar via gcalcli and posts success when connected or failure on timeout.

Definition at line 32 of file cb_wait_connection.hpp.

Constructor & Destructor Documentation

◆ CbWaitConnection()

cl_gcalcli::CbWaitConnection::CbWaitConnection ( std::chrono::seconds timeout = std::chrono::seconds{30} )

explicit

Construct with optional timeout.

Parameters

timeout Maximum time to wait for connection

Definition at line 22 of file cb_wait_connection.cpp.

: timeout_(timeout), client_(nullptr)
{
}

◆ ~CbWaitConnection()

virtual cl_gcalcli::CbWaitConnection::~CbWaitConnection ( )

virtualdefault

Member Function Documentation

◆ onEntry()

void cl_gcalcli::CbWaitConnection::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file cb_wait_connection.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CbWaitConnection] Waiting for gcalcli connection (timeout: %lds)",
    timeout_.count());
 
  this->requiresClient(client_);
 
  if (!client_)
  {
    RCLCPP_ERROR(getLogger(), "[CbWaitConnection] ClGcalcli client not available");
    this->postFailureEvent();
    return;
  }
 
  auto * connection = client_->getConnection();
  if (!connection)
  {
    RCLCPP_ERROR(getLogger(), "[CbWaitConnection] CpGcalcliConnection not available");
    this->postFailureEvent();
    return;
  }
 
  auto start = std::chrono::steady_clock::now();
  auto deadline = start + timeout_;
 
  // Poll for connection with increasing backoff
  std::chrono::milliseconds poll_interval{500};
  const std::chrono::milliseconds max_interval{5000};
 
  while (std::chrono::steady_clock::now() < deadline)
  {
    // Check if we should force finish
    if (this->isShutdownRequested())
    {
      RCLCPP_INFO(getLogger(), "[CbWaitConnection] Shutdown requested");
      return;
    }
 
    if (connection->checkConnection())
    {
      RCLCPP_INFO(getLogger(), "[CbWaitConnection] Connection established");
      this->postSuccessEvent();
      return;
    }
 
    // Wait before next attempt
    std::this_thread::sleep_for(poll_interval);
 
    // Increase interval with backoff
    poll_interval = std::min(poll_interval * 2, max_interval);
  }
 
  RCLCPP_ERROR(getLogger(), "[CbWaitConnection] Connection timeout after %lds", timeout_.count());
  this->postFailureEvent();
}

References client_, cl_gcalcli::ClGcalcli::getConnection(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresClient(), and timeout_.

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Member Data Documentation

◆ client_

ClGcalcli* cl_gcalcli::CbWaitConnection::client_

private

Definition at line 47 of file cb_wait_connection.hpp.

Referenced by onEntry().

◆ timeout_

std::chrono::seconds cl_gcalcli::CbWaitConnection::timeout_

private

Definition at line 46 of file cb_wait_connection.hpp.